CN116114170A

CN116114170A - System and method for adaptive range of motion for solar trackers

Info

Publication number: CN116114170A
Application number: CN202180052764.3A
Authority: CN
Inventors: T·穆尼安迪; N·S·凯鲁库帕利
Original assignee: SunEdison Energy India Pvt Ltd
Current assignee: SunEdison Energy India Pvt Ltd
Priority date: 2020-08-26
Filing date: 2021-08-25
Publication date: 2023-05-12
Also published as: US20220069764A1; WO2022046838A1; WO2022046838A8; US20230079793A1; AU2021221665A1; US11824488B2; US11522491B2

Abstract

A system includes a tracker configured to collect solar radiation and attached to a rotating mechanism for changing a plane of the tracker and a controller in communication with the rotating mechanism. The controller is programmed to store a plurality of solar tracking information associated with the location, determine a location of the sun at a first particular point in time, calculate a first angle of the tracker based on the location of the sun, detect an accumulation amount at the first particular point in time, determine a first maximum range of motion of the tracker based on the accumulation amount, adjust the first angle of the tracker based on the first maximum range of motion of the tracker, and send instructions to the rotating mechanism to change a plane of the tracker to the adjusted first angle.

Description

System and method for adaptive range of motion for solar trackers

Cross Reference to Related Applications

The present application claims priority from U.S. non-provisional patent application No. 17/003,632, filed on 8/26 2020, the entire disclosure of which is incorporated herein by reference in its entirety.

Technical Field

The present invention relates generally to tracking systems for adjusting solar arrays or panels, and more particularly to adjusting the range of motion of a solar tracker to avoid ground accumulation.

Background

In recent years, development of various energy substitutes, such as clean energy and environmentally friendly energy, has emerged to replace fossil fuels due to shortage of fossil fuels, environmental pollution problems, and the like. One of the solutions is to use solar energy. This type of solar energy use can be classified into three types; one type converts solar energy into thermal energy and uses it to heat or boil water. The converted thermal energy may also be used to operate a generator to produce electrical energy. The second type is used to concentrate sunlight and introduce it into the fiber, which is then used for illumination. The third is to directly convert the light energy of the sun into electric energy using a solar cell.

Solar trackers are a group of collection devices such as solar modules. Some solar trackers are configured to follow the path of the sun to minimize the angle of incidence between the incident light and the solar tracker, thereby maximizing the collected solar energy. In order to properly face the sun, a procedure or device to track the sun is necessary. This is known as a solar tracking system or tracking system. Methods of tracking sunlight can be generally classified into methods using sensors or methods using programs.

In the case of a power generation system using solar energy, a large number of solar trackers are generally installed on a large-area flat land, and since two modules of the solar trackers should not overlap each other, a large land space is required. However, some weather conditions, such as storm snow, sand storm and flood, may pose a potential hazard to the solar tracker, especially at the end of the range of motion of the solar tracker.

This background section is intended to introduce the reader to various aspects of art that may be related to various aspects of the present disclosure, which are described and/or claimed below. This discussion is believed to be helpful in providing the reader with background information to facilitate a better understanding of the various aspects of the present disclosure. Accordingly, it should be understood that these statements are to be read in this light, and not as admissions of prior art.

Disclosure of Invention

In some aspects, a system is provided. The system includes a tracker attached to a rotation mechanism for changing the plane of the tracker. The tracker is configured to collect solar radiation. The system also includes a controller in communication with the rotation mechanism. The controller includes at least one processor in communication with at least one memory device. The at least one processor is programmed to store a plurality of location-dependent/location-determined solar tracking information in the at least one storage device. The at least one processor is further programmed to determine a position of the sun at a first particular point in time. The at least one processor is further programmed to calculate a first angle of the tracker based on the location of the sun and the plurality of location-related solar tracking information. Furthermore, the at least one processor is programmed to detect an accumulated amount at a first specific point in time. Further, the at least one processor is programmed to determine a first maximum range of motion of the tracker based on the accumulation amount. Furthermore, the at least one processor is programmed to adjust the first angle of the tracker based on the first maximum range of motion of the tracker. Additionally, the at least one processor is further programmed to send instructions to the rotation mechanism to change the plane/orientation of the tracker to the adjusted first angle.

In other aspects, a method for operating a tracker is provided. The method is implemented by at least one processor in communication with at least one storage device. The method includes storing a plurality of location-related solar tracking information in at least one storage device. The method also includes determining a position of the sun at a first particular point in time. The method also includes calculating a first angle of the tracker based on the position of the sun and a plurality of solar tracking information associated with the position. In addition, the method includes detecting an accumulation amount at a first specific point in time. Further, the method includes determining a first maximum range of motion of the tracker based on the accumulation amount. Further, the method includes adjusting a first angle of the tracker based on a first maximum range of motion of the tracker. In addition, the method includes sending an instruction to change the plane of the tracker to the adjusted first angle.

In a further aspect, a controller for a tracker is provided. The controller includes at least one processor in communication with at least one storage device. The at least one processor is programmed to store a plurality of solar tracking information associated with the location in the at least one storage device to determine an angle of the tracker based on the location of the sun. The at least one processor is further programmed to determine a position of the sun at a first particular point in time. The at least one processor is further programmed to calculate a first angle of the tracker based on the location of the sun and the plurality of location-related solar tracking information. Furthermore, the at least one processor is programmed to detect an accumulation amount at a first specific point in time. Further, the at least one processor is programmed to determine a first maximum range of motion of the tracker based on the accumulation amount. Furthermore, the at least one processor is programmed to adjust the first angle of the tracker based on the first maximum range of motion of the tracker. In addition, the at least one processor is further programmed to send instructions to change the plane of the tracker to the adjusted first angle.

Various refinements exist of the features noted in relation to the above-noted aspects. Other features may also be incorporated in the above aspects as well. These refinements and additional features may exist individually or in any combination. For example, the various features discussed below with respect to any of the illustrated embodiments may be incorporated into any of the above aspects, alone or in any combination.

Drawings

Fig. 1 shows a perspective view of a solar module of a solar tracker.

Fig. 2 shows a cross-sectional view of the solar module taken along line A-A of fig. 1.

Fig. 3 shows a side view of a solar tracker in an example of the present disclosure.

FIG. 4 illustrates an example system for performing an adaptive range of motion of the example solar tracker shown in FIG. 3.

FIG. 5 illustrates an example process for performing an adaptive range of motion for the solar tracker shown in FIG. 3 using the system shown in FIG. 4.

Fig. 6 shows an example configuration of a user computer device for performing the process shown in fig. 5.

Fig. 7 shows an example configuration of a server system for performing the process shown in fig. 5.

Corresponding reference characters indicate corresponding parts throughout the several views of the drawings.

Detailed Description

The systems and processes are not limited to the specific embodiments described herein. In addition, the components of each system and each process may be practiced independently and separately from other components and processes described herein. Each of the components and processes may also be used in combination with other component packages and processes.

Fig. 1 is a perspective view of a solar module 100 of a solar tracker. Fig. 2 is a cross-sectional view of solar module 100 (shown in fig. 1) taken along line A-A of fig. 1.

The module 100 includes a top surface 106 and a bottom surface 108. An edge 110 extends between the top surface 106 and the bottom surface 108. The module 100 is rectangular. In other embodiments, the module 100 may have any shape that allows the module 100 to function as described herein.

The frame 104 surrounds and supports the module 100. The frame 104 is connected to the module 100, such as shown in fig. 2, with the frame 104 protecting the edges 110 of the module 100. The frame 104 includes an outer surface 112 spaced apart from one or more layers 116 of the module 100 and an inner surface 114 adjacent to the one or more layers 116. The outer surface 112 is spaced from and substantially parallel to the inner surface 114. The frame 104 may be made of any suitable material that provides sufficient rigidity, including, for example, metals or metal alloys, plastics, fiberglass, carbon fiber, and other materials capable of supporting the module 100 as described herein. In some embodiments, the frame is made of aluminum, such as 6000 series anodized aluminum.

In the illustrated embodiment, the module 100 is a photovoltaic module. The module 100 has a laminated structure comprising a plurality of layers 116. Layer 116 includes, for example, a glass layer, a non-reflective layer, an electrical connection layer, an n-type silicon layer, a p-type silicon layer, a backing layer, and combinations thereof. In other embodiments, the module 100 may have more or fewer layers 116 than shown in fig. 2, including only one layer 116. The photovoltaic module 100 may include a plurality of photovoltaic modules, each module being made of photovoltaic cells.

In some embodiments, the module 100 is a heat collector that heats a fluid such as water. In such embodiments, the module 100 may include a tube of fluid heated by solar radiation. Although the present disclosure may describe and illustrate photovoltaic modules, the principles disclosed herein also apply to solar modules 100 configured as heat collectors or solar concentrators, unless otherwise indicated.

Fig. 3 is a side view of a tracker 300 in accordance with at least one embodiment. The tracker 300 includes a support post 305, one or more rotation mechanisms 310, and a tracker panel 315. The tracker panel 315 includes one to a plurality of modules 100 (shown in fig. 1). The tracker 300 (also referred to as a tracker row) controls the position of the plurality of modules 100 on a tracker panel 315. The rotation mechanism 310 is configured to rotate the tracker panel 315 to a different angle θ 340 to track the sun as described herein. The tracker controller 345 sends instructions to the rotation mechanism 310 to change the plane of the tracker 300. As used herein, the plane of the tracker 300 is the top surface 106 (shown in fig. 2) of the tracker panel 315 (shown in fig. 3). The rotation mechanism 310 rotates the tracker panel 315 along a single axis, where the range of motion 332 of the tracker panel 315 may include an angle θ 340 from-60 degrees to 60 degrees, where zero degrees is horizontal. The rotation mechanism 310 may be any rotation mechanism 310 capable of moving the tracker panel 315 between the angles θ 340 as described herein. In FIG. 3, the tracker panel 315 is at-60 degrees. The rotation mechanism 310 can move a single tracker panel 315, an entire row of tracker panels 315, or a group of tracker panels 315. In some embodiments, each tracker 300 is associated with its own rotation mechanism 310. The rotation mechanism 310 may include, but is not limited to, a linear actuator and a rotary drive.

The tracker 300 is configured such that the top of the tracker 300 (measured at the top of the support posts 305) is disposed at a height h 320 above the ground 318. The height h 320 is configured such that the tracker panel 315 of the tracker 300 does not contact the ground 318 while traversing the range of motion 332. To ensure that the tracker panel 315 does not contact the ground 318 at the end of the range of motion 332, the height h 320 also includes a safety margin g 325. The safety margin g 325 ensures that the tracker panel 315 of the tracker 300 does not contact the ground 318 when in the extreme position of its range of motion 332.

In many solar modules, when there is an accumulation on the ground 318, the tracker panel 315 of the tracker 300 is changed to a horizontal position until the accumulation is removed. The accumulation may include, but is not limited to, water, such as from floods, snow, and sand. However, maintaining the tracker panel 315 in a horizontal position is not efficient for generating power. In addition, when in the horizontal position, the tracker panel 315 may also accumulate snow or sand, which will then cover the modules 100 of the tracker panel 315 and prevent the tracker 300 from operating to collect solar radiation. Furthermore, in the horizontal position, the substantial accumulation on the tracker panel 315 of the tracker 300 can overload the structure and, for example, cause damage to the tracker panel 315, the support posts 305, and/or the rotation mechanism 310.

The tracker 300 communicates with a tracker controller 345. The tracker controller 345 instructs the tracker 300 at what angle θ 340 to set the tracker panel 315. In this embodiment, the tracker controller 345 is programmed to determine the position of the sun and calculate the corresponding angle θ 340 of the tracker panel 315. The tracker controller 345 is programmed to ensure that the angle theta 340 of the tracker panel 315 is within the range of motion 332. The tracker controller 345 may communicate with and control a single tracker 300 or multiple trackers 300. The tracker controller 345 may communicate with and control all trackers 300 in a row of trackers 300.

For each tracker 300, the tracker controller 345 provides solar tracking to maximize the solar radiation collected by the tracker 300. The tracker controller 345 determines the position of the sun relative to the center of the tracker 300. The tracker controller 345 stores the latitude, longitude, and altitude of the tracker 300. In at least one embodiment, the tracker controller 345 uses the National Renewable Energy Laboratory (NREL) equation to calculate the sun's position at any given point in time. In an alternative embodiment, the tracker controller 345 communicates with one or more sensors 350 that are capable of determining the current position of the sun. The tracker controller 345 is programmed to maximize the throughput of the tracker 300 by minimizing the angle between the sun vector and the normal vector to the plane of the tracker panel 315.

The tracker controller 345 instructs the rotation mechanism 310 to adjust the plane of the tracker panel 315 to an angle θ340 such that the plane of the tracker panel 315 deviates by no more than +/-1 ° when tracking the sun. In some embodiments, the tracker controller 345 provides a step size of two degrees to the angle θ 340 of the plane of the tracker panel 315. This means that the tracker controller 345 adjusts the plane of the tracker panel 315 for every two degrees of movement of the sun. The tracker controller 345 may adjust the angle θ 340 of the plane of the tracker panel 315 by any amount defined by the mechanical tolerances of the tracker 300 and the rotation mechanism 310. In some embodiments, the tracker controller 345 instructs the rotation mechanism 310 to adjust each tracker panel 315 individually, wherein different tracker panels 315 in the same row may be adjusted to different angles θ 340. In other embodiments, the tracker controller 345 indicates that all tracker panels 315 in a row should be adjusted to the same angle θ 340. In some further embodiments, the tracker controller 345 may send instructions to the trackers 300 in different rows. For example, the tracker controller 345 may control the trackers 300 in two adjacent rows.

In the event of an accumulation on the ground 318, the tracker controller 345 may limit the range of motion 332 of the tracker 300 to prevent the tracker panel 315 from being damaged. Under these conditions, the tracker controller 345 determines the current accumulation amount (or depth/thickness) (s 330). The tracker controller 345 may determine the current accumulation s 330 from the sensor 350. The sensor 350 may be associated with a single tracker 300 or a group of trackers 300. The sensor 350 is capable of detecting the current accumulation amount s 330. The sensor 350 may be, but is not limited to, a snow sensor capable of determining the current amount of snow on the ground 318, a snow gauge, a sand gauge, an optical sensor capable of reading known indicia to determine the depth of pile/thickness of pile, or any other sensor 350 that allows the tracker 300 to function as described herein. The tracker controller 345 may also receive the accumulated amount s 330 from a remote computer device.

The tracker controller 345 limits the range of motion 332 of the tracker panel 315 of the tracker 300 to prevent damage to the tracker panel 315 or any other portion of the tracker 300 while still providing solar tracking to maximize the collected solar radiation. The tracker controller 345 may determine the maximum angle θ 340 of the tracker panel 315 using the following equation.

Where θ is the absolute value of the maximum angle θ 340, h is the height h 320 of the tracker 300 at the top of the support post 305, g is the safety margin g 330, s is the accumulation s 330, and w is the width w 335 of the tracker panel 315 along the direction of rotation of the tracker panel 315. The tracker controller 345 sets the range of motion 332 based on the calculated maximum angle theta 340.

The tracker controller 345 tracks the sun to know its position relative to the center of the tracker 300. The tracker controller 345 may determine the center as the center of a single tracker 300, the center of multiple rows of trackers 300 (also referred to as an array), and the center of the entire site of trackers 300. To calculate the position of the sun, the tracker controller 345 considers latitude, longitude, altitude, exact date and time, and other parameters. The tracker controller 345 may determine the current position of the sun or the position of the sun at a future point in time. The tracker controller 345 uses the position of the sun to determine an angle theta 340 at which the normal vector of the tracker panel 315 will be as close as possible to the vector of the sun. The tracker controller 345 is programmed to adjust the tracker panel 315 when the sun moves 2 degrees; accordingly, the tracker controller 345 calculates the angle θ 340 of the tracker panel 315 such that the angle θ 340 is closest to the sun vector during the time between adjustments. For example, if the sun vector is at-37 degrees and the sun is ascending, the tracker controller 345 may adjust the tracker panel 315 to-36 degrees. This provides maximum coverage when the sun travels from-37 degrees to-35 degrees. In other examples, the tracker controller 345 is programmed to adjust the tracker panel 315 when a predetermined period of time has elapsed.

The tracker panel 315 rotates from-60 degrees to 60 degrees while following the sun over a time span of a day. However, in some cases, with accumulation on the ground 318, the tracker panel 315 may not be able to safely traverse the entire range of motion 332, -60 to 60 degrees.

Fig. 4 illustrates an example system 400 (both shown in fig. 3) for performing an adaptive range of motion 332 of a solar tracker 300 according to one example of this disclosure. In this example, the system 400 is used to control the tracker 300. The system 400 is a tracker control computer system that includes at least one tracker controller 345 configured to control an angle θ 340 of a tracker panel 315 (both shown in fig. 4) of the tracker 300. In some examples, the tracker controller 345 is programmed to control the plurality of trackers 300 based on data received from the one or more sensors 350.

The tracker 300 is configured to track the position of the sun to collect solar radiation. As described herein, the tracker 300 is associated with a rotation mechanism 310 that rotates a tracker panel 315 (both shown in fig. 3) of the module 100 (shown in fig. 1) to track the position of the sun. The tracker controller 345 ensures that the tracker panel 315 is positioned only at an angle theta 340 within the range of motion 332 of the tracker. During accumulation, the tracker controller 345 uses equation 1 to determine the maximum angle θ 340 that the range of motion 332 of the tracker panel 315 may be rotated to during solar tracking.

In system 400, sensor 350 receives signals regarding conditions surrounding tracker 300. The sensors 350 may include, but are not limited to, a snow sensor capable of determining a current pre-snowfall amount on the ground, a snow gauge, a sand gauge, an optical sensor capable of reading known indicia to determine an accumulated thickness, or any other sensor 350 that allows the tracker 300 to function as described herein. The sensor 350 may also include an optical sensor for detecting the current position of the sun. The sensor 350 is connected to the tracker controller 345 through various wired or wireless interfaces including, but not limited to, a network such as a Local Area Network (LAN) or Wide Area Network (WAN), dial-up connection, cable modem, internet connection, wireless and special high-speed Integrated Services Digital Network (ISDN) line. The sensor 350 receives data regarding the current condition at the location of the tracker 300. The sensors 350 may be associated with individual trackers 300, an entire row of trackers 300, an entire tracker array 300, and/or an entire venue. In other examples, the sensor 350 communicates with the array controller 405 and/or the site controller 410, and the sensor information or data describing the sensor information is thereby sent to the tracker controller 345.

The array controller 405 is a computer including a web browser or software application that enables the array controller 405 to communicate with one or more of the tracker controller 345, another array controller 405, and the site controller 410 using the internet, a Local Area Network (LAN), or a Wide Area Network (WAN). In some examples, array controller 405 is communicatively coupled to the internet through a number of interfaces including, but not limited to, at least one of a network such as the internet, a LAN, a WAN, or an Integrated Services Digital Network (ISDN), a dial-up connection, a Digital Subscriber Line (DSL), a cellular telephone connection, a satellite connection, and a cable modem. Array controller 405 may be any device capable of accessing a network such as the internet including, but not limited to, a desktop computer, a laptop computer, a Personal Digital Assistant (PDA), a cellular telephone, a smart phone, a tablet, or other web-based connectable equipment. The array controller 405 is a computing device for monitoring a plurality of tracker controllers 345 in communication with a plurality of trackers 300.

Site controller 410 is a computer that includes a web browser or software application that enables site controller 410 to communicate with one or more of tracker controller 345, array controller 405, and client system 425 using the internet, a Local Area Network (LAN), or a Wide Area Network (WAN). In some examples, site controller 410 is communicatively coupled to the internet through a number of interfaces including, but not limited to, at least one of a network such as the internet, a LAN, a WAN, or an Integrated Services Digital Network (ISDN), a dial-up connection, a Digital Subscriber Line (DSL), a cellular telephone connection, a satellite connection, and a cable modem. Site controller 410 may be any device capable of accessing a network such as the internet including, but not limited to, a desktop computer, a laptop computer, a Personal Digital Assistant (PDA), a cellular telephone, a smart phone, a tablet, or other web-based connectable equipment. Site controller 410 is a computing device for monitoring a plurality of array controllers 405, each array controller in communication with a plurality of tracker controllers 345. Site controller 410 and/or array controller 405 may provide information to tracker controller 345 such as, but not limited to, weather information, forecast information, sun location information, and other information that allows tracker controller 345 to operate as described herein.

Client system 425 is a computer comprising a web browser or software application that enables client system 425 to communicate with one or more of tracker controller 345, array controller 405, and site controller 410 using the internet, a Local Area Network (LAN), or a Wide Area Network (WAN). In some examples, client system 425 is communicatively coupled to the internet through a number of interfaces including, but not limited to, at least one of a network such as the internet, a LAN, a WAN, or an Integrated Services Digital Network (ISDN), a dial-up connection, a Digital Subscriber Line (DSL), a cellular telephone connection, a satellite connection, and a cable modem. Client system 425 may be any device capable of accessing a network such as the internet including, but not limited to, a desktop computer, a laptop computer, a Personal Digital Assistant (PDA), a cellular telephone, a smart phone, a tablet, or other web-based connectable equipment. The client system 425 may provide information to the tracker controller 345 such as, but not limited to, the current accumulation amount.

Database server 415 is communicatively coupled to a database 420 that stores data. In one example, database 420 is a database that includes, but is not limited to, latitude, longitude and altitude of a location based on exact date, time, latitude, longitude, altitude and other parameters, current time, range of motion 332 and current sun position. In some examples, database 420 is stored remotely from tracker controller 345. In some examples, database 420 is decentralized. In this example, a person may access database 420 via client system 425 by logging onto one of tracker controller 345, array controller 405, and site controller 410.

Fig. 5 illustrates an example process 500 of performing an adaptive range of motion 332 (both shown in fig. 3) of a solar tracker 300 using a system 400 (shown in fig. 4). In this embodiment, process 500 is performed by tracking controller 345 (shown in FIG. 3). The process 500 includes the step of ensuring that the range of motion 332 of the tracker 300 remains away from any accumulation on the ground 318 (shown in fig. 3).

The tracker controller 345 stores 505 a plurality of location-related solar tracking information in at least one storage device, such as database 420 (shown in fig. 4). This information may include, but is not limited to, latitude, longitude and altitude of the location, current time, range of motion 332, and sun location based on exact date, time, latitude, longitude and altitude. The tracker controller 345 determines 510 the position of the sun at a first particular point in time. The tracker controller 345 calculates 515 a first angle 340 (shown in fig. 3) of the tracker 300 based on the position of the sun and a plurality of solar tracking information related to the position.

The tracker controller 345 detects 520 the accumulated amount s330 (shown in fig. 3) at a first specific point in time. The accumulation amount s330 may be received from one or more sensors 350 (shown in fig. 3) or remote computer devices (e.g., array controller 405, site controller 410, and client system 425).

The tracker controller 345 determines 525 a first maximum range of motion 332 of the tracker 300 based on the accumulation amount s 330. The tracker controller 345 stores a maximum range of motion 332 of the tracker, the maximum range of motion 332 of the tracker being from-60 degrees to 60 degrees. The tracker controller 345 determines 525 the first maximum range of motion 332 based on the height h 320, the accumulation amount s 330, the safety margin g 325, and the width w 335 of the tracker 300 (all shown in fig. 3 of the tracker 300, the first maximum range of motion 332 is more limited than the tracker maximum range of motion 332, e.g., the maximum range of motion 332 is-60 to 60 degrees and the first maximum range of motion 332 is-56 to 56 degrees due to the accumulation amount s 330 on the ground 318).

The tracker controller 345 adjusts 530 the first angle 340 of the tracker 300 based on the first maximum range of motion 332 of the tracker 300. The tracker controller 345 compares the first angle 340 with the first maximum range of motion 332 to determine whether the first angle 340 exceeds the first maximum range of motion 332. If the first angle 340 exceeds the first maximum range of motion 332, the tracker controller 345 adjusts 530 the first angle 340 to be within the first maximum range of motion 332. For example, if the first maximum range of motion 332 is-47 to 47 degrees and the first angle 340 is 55 degrees, the first angle 340 is adjusted to 530 degrees 47 degrees to be within the first maximum range of motion 332 while still maintaining the normal vector of the tracker panel 315 as close as possible to the vector of the sun. If the first angle 340 is-30 degrees, the tracker controller 345 does not adjust the first angle 340.

The tracker controller 345 sends 535 instructions to the rotation mechanism 310 (shown in fig. 3) to change the plane of the tracker 300 to the adjusted first angle 340. As used herein, the plane of the tracker 300 is the top surface 106 (shown in fig. 2) of the tracker panel 315 (shown in fig. 3).

The tracker controller 345 determines a second position of the sun at a second particular point in time. The tracker controller 345 calculates a second angle 340 of the tracker 300 based on the position of the sun and a plurality of solar tracking information related to the position. The tracker controller 345 detects a second accumulation amount s 330 at a second specific point in time. The tracker controller 345 determines a second maximum range of motion 332 of the tracker 300 based on the second accumulation amount s 330. The tracker controller 345 adjusts the second angle 340 of the tracker 300 based on the second maximum range of motion 332 of the tracker 300. The tracker controller 345 sends instructions to the rotation mechanism 310 to change the plane of the tracker 300 to the adjusted second angle 340. For example, at a subsequent point in time, the accumulation amount s 330 has changed (increased or decreased), and then the tracker controller 345 updates the movement range 332 of the tracker 300 based on the new accumulation amount s 330. The tracker controller 345 continually repeats steps 505 through 535 to ensure that the tracker panel 315 remains unaffected by accumulation on the floor 318.

Once the sun 315 has moved a predetermined amount, the tracker controller 345 also repeats steps 505 through 535 to change the plane of the tracker 300. The tracker controller 345 determines whether the difference between the position of the sun and the second position of the sun exceeds a predetermined threshold. This may be based on a change in the angle of the sun or after a certain amount of time has elapsed. If the difference exceeds a predetermined threshold, the tracker controller 345 sends instructions to the rotation mechanism 310 to change the plane of the tracker 300 to the adjusted second angle.

The tracker controller 345 may also determine whether the accumulation amount s 330 has changed over time. The tracker controller 345 may detect the second accumulation amount s 330 at a second specific point in time. The tracker controller 345 determines a second maximum range of motion 332 of the tracker 300 based on the second accumulation amount s 330. The tracker controller 345 adjusts the first angle 340 of the tracker 300 based on the second maximum range of motion 332 of the tracker 300. The tracker controller 345 sends instructions to the rotation mechanism 310 to change the plane of the tracker 300 to the adjusted first angle 340. The tracker controller 345 also instructs the rotation mechanism 310 to change the plane of the tracker 300 to the horizontal position when the accumulated amount s 330 exceeds the height h 320 of the tracker 300 minus the safety margin g 325.

In some embodiments, the tracker controller 345 communicates with the plurality of trackers 300 and instructs each tracker 300 of the plurality of trackers 300 to adjust to the first angle 340. Each tracker 300 of the plurality of trackers 300 includes a rotation mechanism 310 and the tracker controller 345 sends instructions to each rotation mechanism of the plurality of rotation mechanisms 310 to change the plane of the respective tracker 300 to the first angle 340. In an alternative embodiment, rotation mechanism 310 is attached to each tracker 300 of the plurality of trackers 300, and tracker controller 345 instructs rotation mechanism 310 to change the plane of the plurality of trackers 300 to the first angle 340.

Process 500 may be performed dynamically in real time. Portions of process 500 may also be performed in advance. For example, the tracker controller 345 may determine all angles 340 of the day based on knowing where the sun will be located at each time of day. The tracker controller 345 may adjust 530 the angle at each time of day based on the amount of accumulation s 330 that exists at that time of day and how the range of motion 332 of the tracker 300 changes. One or more steps of process 500 may also be performed by site controller 410, array controller 405, and/or other computer devices, and the results may be provided to tracker controller 345 to know when to adjust tracker 300 and to what angle to adjust tracker 300.

Fig. 6 illustrates an example configuration of a user computer device 602 for performing process 500 (shown in fig. 5). The user computer device 602 is operated by the user 601. User computer devices 602 may include, but are not limited to, tracker controller 345, sensors 350 (both shown in fig. 3), array controller 405, site controller 410, and client system 424 (all shown in fig. 4). The user computer device 602 includes a processor 605 for executing instructions. In some examples, executable instructions are stored in memory area 610. The processor 605 may include one or more processing units (e.g., configured for multiple cores). Memory area 610 is any device that allows for the storage and retrieval of information such as executable instructions and/or transaction data. Memory area 610 may include one or more computer-readable media.

The user computer device 602 also includes at least one media output component 615 for presenting information to the user 601. Media output component 615 is any component capable of conveying information to user 601. In some examples, media output component 615 includes an output adapter (not shown), such as a video adapter and/or an audio adapter. An output adapter is operatively coupled to processor 605 and is operatively coupleable to an output device such as a display device (e.g., a Cathode Ray Tube (CRT), liquid Crystal Display (LCD), light Emitting Diode (LED) display, or "electronic ink" display) or an audio output device (e.g., a speaker or headphones). In some examples, the media output component 615 is configured to present a graphical user interface (e.g., a web browser and/or client application) to the user 601. The graphical user interface may include, for example, an interface for viewing performance information about the tracker 300 (shown in fig. 3). In some examples, user computer device 602 includes an input device 620 for receiving input from user 601. The user 601 may select to view the capabilities of the tracker 300 using the input device 620, but is not limited thereto. Input device 620 may include, for example, a keyboard, a pointing device, a mouse, a stylus, a touch sensitive panel (e.g., a touchpad or touchscreen), a gyroscope, an accelerometer, a position detector, a biometric input device, and/or an audio input device. A single component such as a touch screen may serve as both the output device of the media output component 615 and the input device 620.

The user computer device 602 may also include a communication interface 625 communicatively coupled to a remote device such as the site controller 410. The communication interface 625 may include, for example, a wired or wireless network adapter and/or a wireless data transceiver for a mobile telecommunications network.

Stored in memory area 610 are computer readable instructions for providing a user interface to user 601 via media output component 615, for example, and optionally receiving and processing input from input device 620. The user interface may include a web browser and/or a client application, among other possibilities. Web browsers enable users, such as user 601, to display and interact with media and other information typically embedded on Web pages or websites from tracker controller 345. The client application allows the user 601 to interact with, for example, the tracker controller 345. For example, the instructions may be stored by a cloud service and the output of the execution of the instructions is sent to the media output component 615.

The processor 605 executes computer-executable instructions for implementing aspects of the present disclosure. In some examples, processor 605 is converted to a special purpose microprocessor by executing computer-executable instructions or by being otherwise programmed. For example, the processor 605 is programmed with instructions such as those shown in fig. 5.

Fig. 7 illustrates an example configuration of a server system for performing process 500 (as shown in fig. 5, server computer device 701 may include, but is not limited to, tracker controller 345 (as shown in fig. 3), array controller 405, site controller 410, and database server 415 (all as shown in fig. 4), server computer device 701 further includes a processor 705 for executing instructions, which may be stored in memory region 710, and processor 705 may include one or more processing units (e.g., in a multi-core configuration).

The processor 705 is operably coupled to a communication interface 715 that enables the server computer device 701 to communicate with a remote device, such as another server computer device 701, another tracker controller 345, or a client system 425 (shown in fig. 4). For example, as shown in fig. 4, the communication interface 715 may receive requests from the client system 425 via the internet.

The processor 705 may also be operably coupled to a storage device 734. Storage 734 is any computer-operated hardware suitable for storing and/or retrieving data, such as, but not limited to, data associated with database 420 (shown in FIG. 4). In some examples, storage device 734 is integrated into server computer device 701. For example, server computer device 701 may include one or more hard disk drives as storage device 734. In other examples, the storage device 734 is external to the server computer device 701 and is accessible by multiple server computer devices 701. For example, the storage devices 734 may include a Storage Area Network (SAN), a Network Attached Storage (NAS) system, and/or a plurality of storage units, such as hard disks and/or solid state disks in a Redundant Array of Inexpensive Disks (RAID) configuration.

In some examples, processor 705 is operatively coupled to storage device 734 via storage interface 720. Storage interface 720 is any component capable of providing processor 705 with access to storage 734. Storage interface 720 may include, for example, an Advanced Technology Attachment (ATA) adapter, a serial ATA (SATA) adapter, a Small Computer System Interface (SCSI) adapter, a RAID controller, a SAN adapter, a network adapter, and/or any component providing processor 705 with access to storage device 734.

Processor 705 executes computer-executable instructions for implementing aspects of the present disclosure. In some examples, processor 705 is converted to a special purpose microprocessor by executing computer-executable instructions or by being otherwise programmed. For example, processor 705 is programmed with instructions such as those shown in fig. 5.

A computer system, such as a tracker controller, and related computer systems are described herein. As described herein, all such computer systems include a processor and a memory. However, any processor in a computer device referred to herein may also refer to one or more processors, which may be in one computing device or in multiple computing devices acting in parallel. In addition, any memory in a computer device referred to herein may also refer to one or more memories, where the memory may be in one computing device or in multiple computing devices acting in parallel.

As used herein, a processor may include any programmable system, including a system using a microcontroller; reduced Instruction Set Circuits (RISC), application Specific Integrated Circuits (ASIC), logic circuits, and any other circuit or processor capable of executing the functions described herein. The above examples are merely examples, and thus are not intended to limit in any way the definition and/or meaning of the term "processor".

As used herein, the term "database" may refer to a data volume, a relational database management system (RDBMS), or both. As used herein, a database may include any collection of data, including hierarchical databases, relational databases, flat file databases, object-relational databases, object-oriented databases, and any other structured collection of records or data stored in a computer system. The above examples are merely examples and are thus not intended to limit in any way the definition and/or meaning of the term database. Examples of RDBMS include, but are not limited to, databases, mySQL, DB2, SQL servers, and PostgreSQL. However, any database that enables the systems and methods described herein may be used. ( Oracle is a registered trademark of Oracle corporation of Redwood Shores, calif.; IBM is a registered trademark of International Business Machines corporation of Armonk, new york; microsoft is a registered trademark of Microsoft corporation of Redmond, washington; and Sybase is a registered trademark of Sybase of Dublin, california )

In one embodiment, a computer program is provided and embodied on a computer readable medium. In an example embodiment, the system executes on a single computer system without requiring a connection to a server computer. In another embodiment, the system operates in an environment (Windows is a registered trademark of Microsoft corporation of Redmond, washington). In yet another embodiment, the system operates on a mainframe environment and a server environment (UNIX is a registered trademark of X/Open Company Limited located on Berkexia, england). The application is flexible and designed to operate in a variety of different environments without compromising any of the primary functions. In some embodiments, the system includes a plurality of components distributed among a plurality of computing devices. One or more components may be in the form of computer-executable instructions embodied in a computer-readable medium.

As used herein, an element or step recited in the singular and proceeded with the word "a" or "an" should be understood as not excluding plural elements or steps, unless such exclusion is explicitly recited. Furthermore, references to "an example embodiment" or "one embodiment" of the present disclosure are not intended to be interpreted as excluding the existence of additional embodiments that also incorporate the recited features.

As used herein, the terms "software" and "firmware" are interchangeable, and include any computer program stored in memory for execution by a processor, including RAM memory, ROM memory, EPROM memory, EEPROM memory, and non-volatile RAM (NVRAM) memory. The above memory types are exemplary only, and are thus not limiting as to the types of memory usable for storage of a computer program.

The methods and systems described herein may be implemented using computer programming or engineering techniques including computer software, firmware, hardware, or any combination or subset. As mentioned above, at least one technical problem of existing systems is that of requiring a system for determining the direction of arrival of a wireless signal in a cost effective and reliable manner. The systems and methods described herein address this technical problem. In addition, at least one technical scheme of the technical problem provided by the system can comprise: (i) Accuracy in determining the proper angle of the solar tracker is improved; (ii) The chance of damage to the tracker due to accumulation on the ground is reduced; (iii) The solar radiation collected increases during the weather with accumulation; (iv) The method comprises the steps of (1) positioning a solar tracker up to date based on the current conditions of a solar station/power station; and (v) reducing downtime of the tracker based on weather conditions.

The methods and systems described herein may be implemented using computer programming or engineering techniques including computer software, firmware, hardware, or any combination or subset thereof, wherein the technical effect may be achieved by performing at least one of the following steps: a) Storing a plurality of location-related solar tracking information in the at least one storage device; b) Determining the position of the sun at a first specific point in time; c) Calculating a first angle of the tracker based on the position of the sun and the plurality of position-related solar tracking information; d) Detecting an accumulation amount at the first specific time point; e) Determining a first maximum range of motion of the tracker based on the accumulation; f) Adjusting the first angle of the tracker based on the first maximum range of motion of the tracker; g) Sending instructions to the rotation mechanism to change the plane of the tracker to the adjusted first angle; h) Determining a second position of the sun at a second particular point in time; i) Calculating a second angle of the tracker based on the position of the sun and the plurality of position-related solar tracking information; j) Detecting a second accumulation amount at the second specific time point; k) Determining a second maximum range of motion of the tracker based on the second accumulation amount; l) adjusting the second angle of the tracker based on the second maximum range of motion of the tracker; m) sending instructions to the rotation mechanism to change the plane of the tracker to the adjusted second angle; o) determining whether a difference between the position of the sun and the second position of the sun exceeds a predetermined threshold; p) if the difference exceeds the predetermined threshold, sending instructions to the rotation mechanism to change the plane of the tracker to an adjusted second angle; q) determining whether the first angle exceeds the first maximum range of motion; r) adjusting the first angle to be within the first maximum range of motion; s) detecting a second accumulation amount at a second specific time point; t) determining a second maximum range of motion of the tracker based on the second accumulation amount; u) adjusting the first angle of the tracker based on the second maximum range of motion of the tracker; v) sending instructions to the rotation mechanism to change the plane of the tracker to the adjusted first angle; w) storing the maximum motion range of the tracker; v) determining the first maximum range of motion based on the height of the tracker, the accumulation amount, a safety margin, and a width of the tracker, wherein the first maximum range of motion is more limited than the tracker maximum range of motion, wherein the tracker maximum range of motion is from-60 degrees to 60 degrees, and wherein the tracker comprises a tracker panel having a plurality of modules, wherein the rotation mechanism changes a plane of the tracking panel; and w) instructing the rotation mechanism to change the plane of the tracker to horizontal when the accumulation exceeds the height of the tracker minus the safety margin.

The computer-implemented methods discussed herein may include additional, fewer, or alternative acts, including those discussed elsewhere herein. The methods may be implemented via one or more local or remote processors, transceivers, servers, and/or sensors (such as processors, transceivers, servers, and/or sensors installed on or associated with a vehicle or mobile device) and/or via computer-executable instructions stored on a non-transitory computer-readable medium or media. In addition, the computer systems discussed herein may include additional, fewer, or alternative functions, including those discussed elsewhere herein. The computer systems discussed herein may include or be implemented via computer executable instructions stored on non-transitory computer readable media or mediums.

As used herein, the term "non-transitory computer-readable medium" is intended to mean any tangible computer-based device implemented in any method or technology for short-term and long-term storage of information, such as computer-readable instructions, data structures, program modules and sub-modules, or other data in any device. Thus, the methods described herein may be encoded as executable instructions embodied in a tangible, non-transitory, computer-readable medium, including, but not limited to, a storage device and/or a storage device. The instructions, when executed by a processor, cause the processor to perform at least a portion of the methods described herein. Furthermore, as used herein, the term "non-transitory computer readable medium" includes all tangible computer readable media, including but not limited to non-transitory computer storage devices, including but not limited to volatile and non-volatile media, and removable and non-removable media, such as firmware, physical and virtual storage, CD-ROMs, DVDs, and any other digital source, such as the network or internet, and yet to be developed digital apparatus, with the sole exception being a transitory propagating signal.

Further, as used herein, the term "real-time" refers to at least one of the time of occurrence of an associated event, the time of measuring and collecting predetermined data, the time of processing data, and the time of response of the system to the event and the environment. In the embodiments described herein, these activities and events occur substantially instantaneously.

This written description uses examples to disclose the invention, including the best mode, and also to enable any person skilled in the art to practice the invention, including making and using any devices or systems and performing any incorporated methods. The patentable scope of the invention is defined by the claims, and may include other examples that occur to those skilled in the art. These other examples are intended to be within the scope of the claims if they have structural elements that do not differ from the literal language of the claims, or if they include equivalent structural elements with insubstantial differences from the literal languages of the claims.

Claims

1. A system, comprising:

a tracker attached to the rotation mechanism for changing a plane of the tracker, wherein the tracker is configured to collect solar radiation; and

A controller in communication with the rotating mechanism, the controller comprising at least one processor in communication with at least one storage device, wherein the at least one processor is programmed to:

storing a plurality of location-related solar tracking information in the at least one storage device;

determining the position of the sun at a first specific point in time;

calculating a first angle of the tracker based on the position of the sun and the plurality of position-related solar tracking information;

detecting an accumulation amount at the first specific time point;

determining a first maximum range of motion of the tracker based on the accumulation;

adjusting the first angle of the tracker based on the first maximum range of motion of the tracker; and

instructions are sent to the rotation mechanism to change the plane of the tracker to the adjusted first angle.

2. The system of claim 1, wherein the at least one processor is further programmed to maximize the capacity of the tracker by minimizing an angle between a sun vector and a normal vector to a plane of a tracker panel.

3. The system of claim 1, wherein the at least one processor is further programmed to:

Determining a second position of the sun at a second particular point in time;

calculating a second angle of the tracker based on the position of the sun and the plurality of position-related solar tracking information;

detecting a second accumulation amount at the second specific time point;

determining a second maximum range of motion of the tracker based on the second accumulation amount;

adjusting the second angle of the tracker based on the second maximum range of motion of the tracker; and

instructions are sent to the rotation mechanism to change the plane of the tracker to an adjusted second angle.

4. The system of claim 3, wherein the at least one processor is further programmed to:

determining whether a difference between the position of the sun and the second position of the sun exceeds a predetermined threshold; and

if the difference exceeds the predetermined threshold, instructions are sent to the rotation mechanism to change the plane of the tracker to an adjusted second angle.

5. The system of claim 1, wherein the at least one processor is further programmed to:

determining whether the first angle exceeds the first maximum range of motion; and

The first angle is adjusted to be within the first maximum range of motion.

6. The system of claim 1, wherein the at least one processor is further programmed to:

detecting a second accumulation amount at a second specific time point;

determining a second maximum range of motion of the tracker based on the second accumulation amount; and

adjusting the first angle of the tracker based on the second maximum range of motion of the tracker; and

7. The system of claim 1, wherein the at least one processor is further programmed to:

storing a maximum range of motion of the tracker; and

the first maximum range of motion is determined based on the height of the tracker, the accumulation amount, a safety margin, and a width of the tracker, wherein the first maximum range of motion is more limited than the tracker maximum range of motion.

8. The system of claim 7, wherein the tracker maximum range of motion is from-60 degrees to 60 degrees.

9. The system of claim 7, wherein the tracker comprises a tracker panel having a plurality of modules, wherein the rotation mechanism changes a plane of the tracker panel.

10. The system of claim 7, wherein the at least one processor is further programmed to instruct the rotation mechanism to change the plane of the tracker to a horizontal position when the accumulated amount exceeds the height of the tracker minus the safety margin.

11. A method for operating a tracker, the method implemented by at least one processor in communication with at least one storage device, the method comprising:

determining the position of the sun at a first specific point in time;

calculating a first angle of the tracker based on the position of the sun and a plurality of solar tracking information associated with the position;

detecting an accumulation amount at a first specific time point;

instructions are sent to change the plane of the tracker to the adjusted first angle.

12. The method of claim 11, further comprising maximizing the capacity of the tracker by minimizing an angle between a solar vector and a normal vector to a plane of a tracker panel.

13. The method of claim 11, further comprising:

determining a second position of the sun at a second particular point in time;

detecting a second accumulation amount at a second specific time point;

instructions are sent to a rotation mechanism to change the plane of the tracker to an adjusted second angle.

14. The method of claim 12, further comprising:

if the difference exceeds the predetermined threshold, an instruction is sent to a rotation mechanism to change the plane of the tracker to an adjusted second angle.

15. The method of claim 11, further comprising:

the first angle is adjusted to be within the first maximum range of motion.

16. The method of claim 11, further comprising:

storing the maximum movement range of the tracker; and

17. A controller for a tracker, the controller comprising at least one processor in communication with at least one storage device, the at least one processor programmed to:

storing a plurality of location-dependent solar tracking information in the at least one storage device for determining an angle of the tracker based on a location of the sun;

determining the position of the sun at a first specific point in time;

detecting an accumulation amount at the first specific time point;

18. The controller of claim 17, wherein the at least one processor is further programmed to maximize the capacity of the tracker by minimizing an angle between the sun vector and a normal vector to a plane of the tracker panel.

19. The controller of claim 17, wherein the at least one processor is further programmed to:

determining a second position of the sun at a second particular point in time;

detecting a second accumulation amount at the second specific time point;

20. The controller of claim 19, wherein the at least one processor is further programmed to: